ECAT.PLLOFFSET
Description
This parameter applies an offset to the Phase-Locked Loop (PLL) before triggering the position loop. This value is used when using Distributed Clocks (DC) for synchronization.
This value only needs to be changed if there is an issue with where the SyncManager 2 (SM2) event happens in relation to the position loop. The goal is to have the SM2 event happen before the position loop so the position loop runs with the latest controller data. If there is a lot of jitter in SM2, or it occurs too close to Sync0 such that the position loop runs prior to the SM2 event completing, the position loop runs with old controller data.
-
- New values do not take effect until the next PREOP to SAFEOP transition due to resynchronization of the PLL.
Synchronization Error Limit
ECAT.MAXSYNCERROR (Object 10F1h sub 2): Sets a limit for the number of synchronization errors accumulated by the counter objects 1C33h sub 11 (SM2 event missed counter) and 1C33h sub 13 (Shift time too small counter).
If one or both of these counters reach the limit set by ECAT.MAXSYNCERROR, the fault F7011 will be thrown and the EtherCAT communication state will change to SafeOp with an AL status code related to the counter, which exceeded the limit (see EtherCAT state machine AL Status Code).
Context
See Synchronization
See ECAT.PLLOFFSETNODC for setting the offset when using SM2 synchronization instead of DCs.
See 1C32h Output SyncManager Parameter
Versions
| Action | Version | Notes |
|---|---|---|
| Implemented | 02-06-00-001 |
General Information
|
Type |
Read/Write |
|
Units |
ns |
|
Range |
0-250000ns |
|
Default Value |
500ns |
|
Data Type |
Integer |
| See Also | ECAT.PLLOFFSETNODC |
|
Stored in Non-Volatile Memory |
Yes |
Variants Supported
EtherCAT variants: AKD2G-SPE
